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Omnidirectional bearing-only see-and-avoid for small aerial..:

Mejias Alvarez, Luis ; Mondragon Bernal, Ivan Fernando ; Campoy Cervera, Pascual
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?reload=true&arnumber=6144850&contentType=Conference+Publications.  , 2011
Link: https://oa.upm.es/12181/